Additional functions
The software module makes it possible to configure optional control/status words depending on the function that is required. These line up automatically after the 10 process data words of the basic functions.
INFORMATION
The amount of previously configured process data (x) must be added to the specified process data word number.
Status word 2
Word | Bit | Function/unit | |
|---|---|---|---|
PI | Status word 2 | 0-3 | Actual priority of the balancing (operating mode) |
4 | Axis group member 1: | ||
5 | Axis group member 2: | ||
6 | Axis group member 3: | ||
7 | Axis group member 4: | ||
8-15 | Reserved | ||
Tension between axis group members 1 and 2
Word | Bit | Function/unit | |
|---|---|---|---|
PO | Reserved | 0-15 |
|
Load distribution
Word | Bit | Function/unit | |
|---|---|---|---|
PI | Reserved | 0-15 |
|
Position controller P gain
Word | Bit | Function/unit | |
|---|---|---|---|
PI | Reserved | 0-15 |
|
User-defined speed correction values
Word | Bit | Function/unit | |
|---|---|---|---|
PI | Actual speed correction value, axis group member 1 | 0-15 | User unit (speed) |
PI | Actual speed correction value, axis group member 2 | 0-15 | User unit (speed) |
PI | Actual speed correction value, axis group member 3 | 0-15 | User unit (speed) |
PI | Actual speed correction value, axis group member 4 | 0-15 | User unit (speed) |
Skew offset
Word | Bit | Function/unit | |
|---|---|---|---|
PI | Reserved | 0-15 |
|
PI | Reserved | 0-15 |
|
PI | Reserved | 0-15 |
|
PI | Reserved | 0-15 |
|
PI | Reserved | 0-15 |
|
PI | Reserved | 0-15 |
|
PI | Reserved | 0-15 |
|
PI | Reserved | 0-15 |
|
Anti-sway control
Status word
Word | Bit | Function/unit | |
|---|---|---|---|
PI | Status word
| 0 | Anti-sway control active/inactive |
1-15 | Reserved | ||
Payload mass
Word | Bit | Function/unit | |
|---|---|---|---|
PI | Reserved | 0-15 |
|
Distance between lifting and traveling trolley
Word | Bit | Function/unit | |
|---|---|---|---|
PI | Distance between lifting and traveling trolley (current distance or specified value) – high word | 0-15 | User unit (position) |
PI | Distance between lifting and traveling trolley (current distance or specified value) – low word | 0-15 | User unit (position) |
Deflection of the oscillation
Word | Bit | Function/unit | |
|---|---|---|---|
PI | Reserved | 0-15 |
|
Subordinate axis group members
Optionally, 6 PDs per single axis can be activated to obtain more detailed information about the individual axes subordinate to the MultiAxisController.
Word | Bit | Function | |
|---|---|---|---|
PI x+0 | Status word | 0 | Ready for operation |
1 | STO inactive | ||
2 | Output stage enabled | ||
3 | Brake released | ||
4 | Motor turning | ||
5 | Referenced | ||
6 | Reserved | ||
7 | Reserved | ||
8 | Fault | ||
9 | Inverter warning | ||
10 | Reserved | ||
11 | Reserved | ||
12 | Reserved | ||
13 | Reserved | ||
14 | Standby mode active | ||
15 | Reserved | ||
PI x+1 | Actual speed | 0-15 |
|
PI x+2 | Status or fault/subfault | 0-15 |
|
PI x+3 | Actual torque | 0-15 |
|
PI x+4 | Actual position high word | 0-15 | If an external encoder is activated for the axis in the case of the MultiAxisController®, the position of the external encoder is output. If it is not activated, the position of the motor encoder is output. |
PI x+5 | Actual position low word | 0-15 | |
Access control
Word | Bit | Function/unit | |
|---|---|---|---|
PI | Status word | 0 | Access granted |
1-15 | Reserved | ||
